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trajectory planning procedure #16

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rayvburn opened this issue Apr 14, 2021 · 2 comments
Open
1 task done

trajectory planning procedure #16

rayvburn opened this issue Apr 14, 2021 · 2 comments
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documentation Improvements or additions to documentation

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@rayvburn
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rayvburn commented Apr 14, 2021 •
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  • initial version can have a sampling-based approach implemented (like DWA)

  • additional cost to follow the global plan

  • human trajectory prediction with a use of SFM & fuzzy logic but beware of oscillations (it's still a potential field), so constant velocity model may also be considered (superposition?)

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@rayvburn
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ref: xdwa_local_planner

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Add the draft to wiki:

image

Source: PhD/Sem8/hubero-planning.md

@rayvburn rayvburn added the documentation Improvements or additions to documentation label Mar 11, 2023
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